DE102020212648A1 - Electro-hydraulic implement control system and procedure - Google Patents

Abstract

A work machine includes a main frame, a boom movable relative to the main frame, a work attachment coupled to the boom and movable relative to the boom. The work machine further includes a work attachment operator control configured to transmit a signal indicative of a work attachment move command, a boom operator control configured to transmit a signal indicative of a boom move command, and a Boom sensor configured to sense movement of the boom and transmit a signal indicative of the detected movement of the boom. The work attachment further includes a controller configured to receive signals from the work attachment operator control, the boom operator control, and the boom sensor. The controller is further configured to transmit a signal to cause movement of the work attachment relative to the boom based on the sensed movement of the boom and the work attachment move command.

Description

Area of revelation

The present disclosure relates to a construction or work machine, such as a skid steer loader or a compact track loader, in particular to control systems for adjusting a position of a work attachment of the work machine.

Revelation background

Work machines, such as those used in agriculture, construction and forestry, carry out a large number of processes. In some cases the machines are equipped with an attachment or tool to perform a desired function. The work attachment or tool, such as a shovel, a forklift or a gripper, is movably coupled to a frame of the machine by a mechanical lifting arm or boom. The lift arm or boom is operably controlled by a machine operator using operator controls located in a cab of the machine.

In one instance, the machine may include a work attachment operably connected to a boom that is rotatably coupled to a frame of the machine for moving up and down relative to the frame. In another case, a bracket is connected to the frame with two or more links. The machine operator adjusts the boom position as well as the work attachment position to collect material that may be at ground level or at other heights above ground level. Once the material is collected in the work attachment, the material is moved to a desired location, which may be at ground level or at the other levels above the ground. In various embodiments of the work machine, the operator controls the height of the work attachment and the angle of the work attachment using one or more joysticks. In one embodiment, a boom joystick adjusts both a speed and a height of the boom and a work attachment joystick adjusts both a speed and a level of the work attachment.

There is a need to automatically adjust the level of the work attachment so that the contents of the work attachment are not lost, and there is a need to achieve this adjustment with an inexpensive solution. However, such systems are quite complex, as there are a large number of sensors that not only need to be maintained but also calibrated. Such sensors can be expensive and, in some cases, prohibitively expensive. What is needed, therefore, is a work machine that maintains a relatively equal level of performance while not only reducing the number of sensors in some cases, but also reducing the complexity of the control system that maintains the posture and position of the work attachment.

Summary

In an illustrative embodiment of the present disclosure, a work machine includes: a main frame; a boom movable relative to the main frame; a work attachment coupled to and movable relative to the boom; a work attachment operator controller configured to transmit a signal indicative of a work attachment move command; a boom operator control configured to transmit a signal indicative of a boom move command; a boom sensor configured to detect movement of the boom and transmit a signal indicative of the detected movement of the boom; a controller configured to (i) receive signals from the work attachment operator controller and the boom sensor, and (ii) transmit a signal to indicate movement of the work attachment relative to the boom based on the sensed movement of the boom and work attachment -To effect movement command.

In some embodiments, the boom sensor is configured to sense a speed of the boom and transmit a signal indicative of the sensed speed of the boom. In some embodiments, the controller includes a memory configured to store ratio data. The ratio data includes boom speeds and corresponding Work attachment speeds required to keep the work attachment at a constant angle relative to the main frame while the boom is moving. The controller is configured to transmit a signal to cause the work attachment to move at a particular work attachment speed based on the sensed boom speed and the work attachment move command.

The boom sensor is configured to detect a position of the boom relative to the main frame and transmit a signal indicative of the detected position of the boom. In some embodiments, the relationship data for each position of the boom includes boom speeds and corresponding work attachment speeds required to maintain the work attachment at a constant angle relative to the main frame during movement of the boom. The controller is configured to transmit a signal to cause the work attachment to move at a particular work attachment speed based on the sensed boom speed, the sensed position of the boom, and the work attachment move command.

In some embodiments, the memory is configured to store boom stop position data, the boom stop position data including one or more stop positions of the boom beyond which the boom cannot move. The controller is configured to transmit a signal to stop movement of the work attachment based on the boom stop position and the detected position of the boom.

In some embodiments, the boom sensor is configured to sense an upward or downward direction of movement of the boom and transmit a signal indicative of the sensed direction of movement. The ratio data includes boom speeds for each direction of movement of the boom and corresponding work attachment speeds required to maintain the work attachment at a constant angle relative to the main frame during movement of the boom. The controller is configured to transmit a signal to cause the work attachment to move at a particular work attachment speed based on the sensed boom speed, the sensed position of the boom, the sensed direction of travel of the boom, and the work attachment move command. In some embodiments, the ratio data for the upward direction of movement of the boom is different from the ratio data for the downward direction of movement of the boom.

In some embodiments, the work machine does not include a sensor configured to sense movement or position of the work attachment. In some embodiments, the work machine includes a work attachment sensor configured to sense movement and / or position of the work attachment.

In another embodiment of the present disclosure, an open loop control system for a work machine is configured for use with a main frame, a boom movable relative to the main frame, and a work attachment movable relative to the boom. The open loop control system includes: a boom operator control configured to transmit a signal indicative of a boom move command; a boom sensor configured to (i) sense a speed of the boom and (ii) transmit a signal indicative of the sensed speed of the boom; a work attachment actuator coupled to the work attachment and configured to move the work attachment relative to the boom; a controller configured to (i) receive a signal from the boom sensor, and (ii) transmit a signal to the work attachment actuator that causes the work attachment actuator to extend or retract at a specified rate around the work attachment while in motion of the boom at a constant angle relative to the main frame, the signal transmitted to the work attachment actuator being based on the sensed speed of the boom.

In some embodiments, the boom sensor is configured to (i) sense a position of the boom relative to the main frame and (ii) transmit a signal indicative of the sensed position of the boom. The signal transmitted from the controller to the implement actuator is based on the sensed speed of the boom and the sensed position of the boom.

In some embodiments, the controller includes memory configured to store boom stop position data. The boom stop position data includes one or more stop positions of the boom beyond which the boom cannot move any further. The signal transmitted to the work attachment actuator is based on the stopped position of the boom, the sensed position of the boom, and the sensed speed of the boom.

In some embodiments, the boom sensor is configured to (i) sense directional movement of the boom relative to the main frame and (ii) transmit a signal indicative of the sensed direction of movement of the boom. The signal transmitted from the controller to the implement actuator is based on the sensed speed of the boom and the sensed direction of movement of the boom.

In another embodiment of the present disclosure, the work attachment includes a method of moving a work attachment coupled to the boom of a work machine. The method includes: detecting a speed and a position of the boom with a sensor coupled to the boom; Transmitting a signal that the displays the detected speed and position of the boom; Transmitting a signal from a controller in communication with the sensor to move the work attachment relative to the boom at a determined speed of the work attachment based on the sensed speed of the boom and the sensed position of the boom.

In some embodiments, the method includes sensing a direction of movement of the boom, wherein the sensor is coupled to the boom. The determined speed of the work attachment is also based on the detected direction of movement of the boom. In some embodiments, the method includes accessing a stop position of the boom from memory contained in the controller. The boom stop position is a position beyond which the boom cannot move any further. In some embodiments, the method includes transmitting a signal from the controller to stop movement of the work attachment based on the sensed position of the boom and the stopped position of the boom.

Figure list

• 1 eine perspektivische Seitenansicht einer Kompaktlader-Arbeitsmaschine ist;
• 2 ein Blockdiagramm eines Steuersystems für eine Arbeitsmaschine ist;
• 3 eine perspektivische Seitenansicht einer weiteren Kompaktlader-Arbeitsmaschine ohne Arbeitsanbaugerätsensor ist; und
• 4 ein Blockdiagramm eines anderen Steuersystems für eine Arbeitsmaschine ist.

The above aspects of the present disclosure and the manner in which they are obtained will become more apparent, and the disclosure itself will be better understood by reference to the following description of the embodiments of the disclosure in conjunction with the accompanying drawings, in which:

• 1 Figure 3 is a side perspective view of a skid steer loader work machine;
• 2 Figure 3 is a block diagram of a control system for a work machine;
• 3rd Figure 3 is a side perspective view of another skid steer loader work machine without a work attachment sensor; and
• 4th Figure 3 is a block diagram of another control system for a work machine.

Detailed description

The embodiments of the present disclosure described below are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed in the following detailed description. Rather, the designs have been chosen and described so that those skilled in the art can understand the principles and practices of the present disclosure.

Referring to 1 Figure 3 is an exemplary embodiment of a work machine such as a skid steer loader 100 shown. However, this disclosure is not intended to be limited to a skid steer loader, but can include any agricultural, construction, or forestry machine. The present disclosure also relates to a front loader having a ground engaging traction element, including wheels or crawlers, and lifting or boom arms with pivoting positions located behind or in front of an operator of the vehicle. The skid steer loader 100 includes a ground engaging mechanism for moving along the ground. In 1 the ground engaging mechanism includes a pair of front wheels 102 and a pair of rear wheels 104 . In another aspect, such as a compact track loader, the ground engaging mechanism may be a drive crawler belt located on either side of the machine. In a conventional skid steer loader, the operator operates the machine controls from within a cab 112 off to the wheels on the right or left side of the machine 100 at different speeds to drive the machine 100 to steer in a conventional way.

The machine 100 may also be equipped with a work attachment or tool to perform a desired operation. In 1 includes the skid steer loader 100 a work attachment 106 , which is also more precisely referred to as a shovel or loading shovel, to collect material in it and transport the material to a desired location. The work attachment 106 can pivot with a front portion of a pair of cantilever arms 108 be coupled that on each side of the machine 100 are positioned. Together the pair of cantilever arms can 108 as a boom 108 are designated. A pair of work implement hydraulic tilt actuators 114 (also work implement actuators 114 called) can move between the work attachment 106 and the cantilever arms 108 extend to the tilted orientation of the work attachment 106 in relation to the cantilever arms 108 to control. Any work implement actuator 114 may include a cylinder rod that is reciprocated in response to a change in hydraulic pressure within a cylinder. By operating the hydraulic tilt actuators 114 the operator can use the work attachment 106 Tip to unload material from it. The terms "extension arm" and "extension arm" are used interchangeably everywhere.

In 1 is the work attachment 106 shown for a loader at a minimum height. Around the work attachment 106 each of a pair of cantilever arms of the boom 108 with an upper connection 110 at a first position 122 and a lower connection 118 at a second position 124 connected. The upper connection 110 and the lower connection 118 are also on a main frame 116 of the skid steer loader 100 attached at opposite ends, each with the cantilever arm 108 connected is. A hydraulic boom actuator 120 is pivotable at one end on the main frame 116 attached and at an opposite end thereof to the cantilever arm 108 coupled. The hydraulic actuator 120 is in a third place 126 with the cantilever arm 108 connected. The first place 122 , the second digit 124 and the third digit 126 are each spaced from one another at approximately the same distance. In further embodiments, the distance is between the first location 122 , the second digit 124 and the third digit 126 spaced and arranged in further configurations.

There is a boom arm on each side of the machine 108 pivotable with the upper link 110 , the lower connection 118 and the boom hydraulic actuator 120 coupled. When the boom hydraulic actuator 120 is operated between an extended position and a retracted position, the work attachment 106 in relation to the main frame 116 raised and lowered accordingly. The work attachment 106 is rotatable with the end of the boom 108 coupled that is fixed to the work implement actuators 114 is coupled. The extension and retraction of work implement actuators 114 adjusts the position of the work attachment 106 in terms of the boom 108 at.

The machine 100 also includes a boom sensor 128 that is configured to speed the boom 108 to eat. In the illustrative embodiment, the boom sensor is 128 a bow angle position sensor that is also configured to measure the position and direction of movement of the boom 108 in relation to the main frame 116 the working machine 100 to eat. As in 1 Illustratively shown is the boom sensor 128 on a pin connection of the upper connection 110 of the boom 108 positioned. As used herein, “movement” includes one or more of a velocity component and a direction of movement component. Thus is the boom sensor 128 configured to move and position the boom 108 to be detected, and in particular is the boom sensor 128 configured to a speed, a position and a direction of movement of the boom 108 relative to the main frame 116 capture. The boom sensor 128 is also configured to transmit a signal indicating the speed, position and / or direction of movement of the boom 108 relative to the main frame 116 indicates.

2 Figure 11 illustrates one embodiment of a control system 200 that is for use with the working machine 100 is adapted. The tax system 200 can be used to control the height and tightness of the work attachment 106 be used. In some embodiments, the control system is an electro-hydraulic control system 200 as described in more detail below. The tax system 200 includes one or more user controls located on a control panel located in the cabin 112 the working machine 100 to be used by the operator. One control 202 is located in or on the work machine 100 and is typically located within the cabin 106 .

An implement operator control 204 , such as a joystick, is with the controller 202 operatively connected and provides a control signal or command signal that varies based on the position of the joystick as set by the operator. In the illustrative embodiment, this may be referred to as a work attachment move command or a signal indicative of a work attachment move command. The implement operator control 204 adjusts the position of the work attachment 106 in terms of the boom 108 at. A boom operator control 206 , such as a joystick, is also operational with the controller 202 and provides a control signal or command signal that varies based on the position of the joystick as set by the operator. In the illustrative embodiment, this may be referred to as a boom move command or a signal indicative of a boom move command. The boom operator control 206 adjusts the position of the boom 108 at. While the operator controls 204 and 206 often a joystick, each of the controls in various embodiments includes a button, switch, lever, button, or other means of sending an electrical signal to the controller 202 . Additional controls can be provided so that the machine operator can use the control 202 can communicate.

The control 202 includes a processor in one or more embodiments 210 that with a memory 212 is effectively connected. In still other embodiments, the controller is 202 a distributed controller with separate individual controllers distributed in different locations on the vehicle. In addition, while the controller is typically hard-wired through electrical wiring or cabling to related components, in other embodiments the controller includes a wireless transmitter and / or receiver for communicating with a controlled or sensing component or device that either provides information the control supplies or transmits control information to controllable devices.

In various embodiments, the controller comprises a computer, a computer system or other programmable devices. In other embodiments, the controller includes 202 one or more processors 210 (e.g. microprocessors) and an associated memory 212 that can reside both inside and outside of the processor. The memory 212 may contain random access memory (RAM) devices that use the controller's memory 202 include, as well as any other types of memory, e.g. B. cache memory, non-volatile or backup memory, programmable memory or flash memory and read-only memory. Additionally, the memory may include storage that is physically in a different location than the processing devices, and may include any cache memory in a processing device, as well as any storage capacity used as virtual storage, such as in a mass storage device or other with the control 202 paired computer is stored. The mass storage device can contain a cache or other data space that can contain databases. In other embodiments, the storage space is in the “cloud”, where the storage is located at a remote location, from which the stored information can be transmitted wirelessly to the controller 202 be transmitted.

The control 202 executes or otherwise relies on computer software applications, components, programs, objects, modules or data structures, etc. In response to the signals received, software routines are executed which are located in the integrated memory of the controller 202 or another memory. In other embodiments, the computer software applications reside in the cloud. The executed software contains one or more specific applications, components, programs, objects, modules or sequences of instructions, which are typically referred to as "program code". The program code contains one or more commands that are in memory 212 and in other storage devices and those in memory 212 execute commands located in the system that respond to other system-generated commands or that are made available in a user-operated user interface. The processor 210 is for both executing the stored program instructions and for accessing the one or more data tables with one or more look-up tables for the boom-to-bucket speed ratio 214 saved data configured.

The control 202 is with the work implement actuators 114 and the boom actuators 120 effectively connected. In one embodiment, as in 2 shown includes the work implement actuator 114 a work attachment valve 170 that with the controller 202 is operatively connected to receive control signals from the processor 210 be generated. In one embodiment, the work attachment is valve 170 a magnetically operated 2-way slide valve. The work attachment valve 170 is with a work attachment cylinder 172 operatively connected, which is a two-way hydraulic cylinder in one embodiment. That from the controller 202 to the implement valve 170 transmitted signal indicates the cylinder 172 on, extend, or retract to effect movement of the work attachment as either a dump or roll-in motion depending on the direction input given by the operator through the work attachment operator control 204 provided. A hydraulic fluid source for the cylinders is not shown.

The boom actuator 120 includes a boom valve 174 that with the controller 202 is operatively connected to receive control signals from the processor 210 be generated. In one embodiment, the cantilever valve is 174 a magnetically operated 2-way slide valve. The boom valve 174 is with a boom cylinder 176 operatively connected, which is a two-way hydraulic cylinder in one embodiment. That from the controller 202 to the boom valve 174 transmitted signal indicates the boom cylinder 176 on, the boom 108 relative to the main frame 116 move in an upward or downward direction, which in turn controls the work attachment 106 increases or decreases depending on the direction input made by the operator via the boom operator control 206 provided.

2 Figure 3 illustrates a single valve associated with a single cylinder for the work implement actuator 114 and the boom actuator 120 is operatively connected; in practice includes the work implement actuator 114 however, a single valve hydraulically connected to two cylinders. Similarly, includes the boom actuator 120 a single valve hydraulically connected to two cylinders. Each of the valves 170 , 174 is configured to controllably adjust the position of each connected cylinder. However, the present disclosure is not limited to the described arrangement of actuators, and other configurations are contemplated as long as they are capable of operating the work attachment 106 and the boom 108 move as described.

As in 2 shown includes the boom 108 also the boom sensor 128 who electrically with the control 202 is coupled. The control 202 is configured to receive signals from the implement operator control 204 , the boom operator control 206 and the boom sensor 128 to recieve. As described above, this shows from the implement operator control 204 transmitted signal to a work implement move command. That from the boom operator control 206 transmitted signal indicates a boom move command. This is also shown by the boom sensor 128 transmitted signal a detected movement of the boom 108 at. This detected movement can be the speed and direction of movement of the boom 108 include. The control 202 can send a signal to the implement actuator 114 transmitted to a movement of the work attachment 106 relative to the boom 108 based on the detected movement of the boom 108 and the work implement move command.

In some embodiments, the cantilever sensor is 128 configured to one position of the boom 108 capture. That from the boom sensor 128 transmitted signal can be in addition to the detected movement of the boom 108 the detected position of the boom 108 Show. The control 202 can send a signal to the implement actuator 114 transmitted to a movement of the work attachment 106 relative to the boom 108 based on the detected movement of the boom 108 , the work implement move command, and the sensed position of the boom 108 to effect.

As described above, the memory is 212 configured to have one or more look-up tables for boom to bucket speed ratio 214 save. Tables 214 contain ratio data that includes values of boom speeds and corresponding values of work attachment speeds required to operate the work attachment 106 while the boom is moving 108 at a constant angle relative to the main frame 116 to keep. In other words, for each boom speed, the ratio data indicates the work attachment speed required to run the work implement 106 relative to the main frame 116 to keep at a level.

In the illustrative embodiment, the relationship between boom speed and the appropriate work attachment speed required to maintain a level work attachment varies 106 maintain with the position of the boom 108 . Thus, the look-up table includes the boom to bucket speed ratio 214 for every position of the boom 108 Boom speeds and appropriate work attachment speeds required to operate the work attachment 108 while the boom is moving 108 at a constant angle relative to the main frame 116 to keep. The controls are similar 202 configured to send a signal to the work implement actuator 114 to transmit a movement of the work attachment 106 at a specific work attachment speed based on the sensed boom speed 108 , the detected position of the boom 108 and the work implement move command.

In the illustrative embodiment, the relationship between the boom speed and the corresponding work attachment speed required to maintain a level of the work implement varies 106 while the boom is moving 108 to maintain, depending on which direction the boom is 108 relative to the main frame 116 emotional. Thus, the look-up table includes the boom to bucket speed ratio 214 for each direction of movement of the boom 108 Boom speeds and appropriate work attachment speeds required to operate the implement 108 at a constant angle relative to the main frame 116 to keep. The boom-to-bucket speed ratio data for the boom up direction 108 are different from the corresponding ratio data for the boom down direction 108 . The control 202 is configured to send a signal to the work implement actuator 114 to transmit a movement of the work attachment 106 at a specific work attachment speed based on the sensed boom speed 108 , the detected direction of movement of the boom 108 and the work implement move command.

In some embodiments, the memory is 212 configured to use boom stop position information 216 save. As used herein, "boom stop position" means a position beyond which the boom extends 108 can't move any further. In some cases, the boom stop position can physically limit the range of motion of the work machine 100 and in other cases the boom stop position may be a selectable position limit that differs from the range of motion (often more limited) that of the work machine 100 is physically admitted. The selectable position limit can be based on the type of implement 106 that in the working machine 100 is included, selected or predetermined. In addition, the selectable position limitation can be done by an operator or another user of the work machine 100 on the basis of a certain Application for the work machine 100 can be adjusted, such as the height of a dump point or the weight of the payload content in the work attachment 106 . Thus, the boom stop position data includes 216 one or more stop positions of the boom 108 beyond which the boom 108 can't move any further.

In the illustrative embodiment, control is 200 configured to transmit a signal to indicate the movement of the work attachment 106 based on the boom stop position data 216 and the detected position of the boom 108 to stop temporarily or permanently. In other words, control is transferring 202 when the position of the boom 108 approaches the boom stop position, a signal to the work implement actuator 114 to move the work attachment 106 finish before the boom 108 reached the boom stop position. This feature of the work machine 100 prevents the work attachment 108 as a result of a delay between sensor detection and hydraulic actuation associated with the electro-hydraulic control system 200 experiences an overtravel.

It will be understood that, in some embodiments, the determined work attachment speed may be based on one or more of the following: (i) the work attachment operator control command, (ii) the sensed boom speed 108 , (iii) the detected position of the boom 108 , (iv) the detected direction of movement of the boom 108 , (v) and the stop position of the boom 108 .

It is also understood that, in some embodiments, the work attachment 100 does not have a sensor configured to sense movement or position of the work attachment; such sensors can be referred to as work attachment sensors. Work implement sensors can be expensive and add complexity to the system; therefore it may be desirable to have a system without any work attachment sensors. A work machine that does not have work attachment sensors can still change the position of the work attachment relative to the boom; however, no feedback can be provided regarding the resulting position of the work attachment. A work machine with a control system without work attachment sensors can be referred to as an open loop control system, which means that the control system does not receive any feedback indicating the position or movement of the work attachment.

In some embodiments, the work machine may include a closed loop control system, such as that in FIG 4th Closed loop control system shown 400 . A closed loop control system is capable of providing and receiving feedback indicative of the position or movement of the work attachment. In some embodiments of the closed loop control system 400 can be a work attachment 300 a work implement sensor 130 include, as in 3rd shown. It is understood that the features of the work attachment 300 identical to the features of the work attachment 100 unless otherwise stated. Therefore, the same reference numbers are used to represent identical features that are both in the work machine 100 as well as in the machine 300 are included.

As in 3rd shown is the work implement sensor 130 configured to the speed of the work implement 106 to eat. In the illustrative embodiment, the work implement sensor is 130 an arc angle position sensor that is also configured to sense the position and direction of movement of the work attachment 106 to eat. As in 3rd Illustratively shown is the work implement sensor 130 positioned on a pin connection shown in phantom and the work attachment 106 to the boom 108 couples. It is understood that the work implement sensor 130 at any point on or away from the work machine 100 can be positioned as long as the implement sensor 130 is able to track the position and / or movement of the work attachment 106 as described herein.

As used herein, “movement” can include a speed and a direction of movement. Thus is the work implement sensor 130 configured to move and position the work attachment 106 to be detected, and more specifically is the work implement sensor 130 configured to a speed, a position and a direction of movement of the work attachment 106 capture. The work implement sensor 130 is also configured to transmit a signal indicative of the speed, position and / or direction of movement of the work attachment 130 indicates. In some embodiments, the control is 202 configured to receive the signal received from the work implement sensor 130 and the position and movement of the work attachment 106 with a desired, selected or instructed position and / or movement of the work attachment 106 to compare.

In some embodiments, the memory is 212 configured to work implement stop position data 218 save. As used herein, "implement stop position" means a position beyond which the work implement extends 106 can't move any further. In some cases, the work machine stop position may physically limit the range of motion of the work machine 100 and in other cases the implement stop position may be a selectable position limit that differs from the range of motion (often more limited) that of the work machine 100 is physically admitted. The selectable position limit can be based on the type of implement 106 that in the working machine 100 is included, selected or predetermined. In addition, the selectable position limitation can be done by an operator or another user of the work machine 100 based on a specific application for the work machine 100 can be adjusted, such as the height of a dump point or the weight of the payload content in the work attachment 106 . Thus, the work attachment includes stop position data 218 one or more stop positions of the boom 108 beyond which the boom 108 can't move any further.

In the illustrative embodiment, control is 202 configured to provide a signal to stop or terminate the movement of the work attachment 106 based on the implement stop position data 218 and the detected position of the work attachment 106 transferred to. In other words, when the position of the work attachment 106 approaches the implement stop position, the control transfers 202 a signal to the work implement actuator 114 to move the work attachment 106 to finish before the work attachment 106 reached the implement stop position. This function of the working machine 100 prevents the work attachment 106 as a result of a delay between sensor detection and hydraulic actuation associated with the electro-hydraulic control system 200 experiences an overtravel.

While exemplary embodiments have been described above that incorporate the principles of the present disclosure, the present disclosure is not limited to the described embodiments. Instead, this application is intended to cover all variations, uses, or adaptations using its general principles. Furthermore, this application is intended to cover departures from the present disclosure that come within the scope of known or customary practice in the art to which this disclosure relates and that come within the scope of the appended claims.

Claims (20)

Working machine, comprising: a main frame; a boom movable relative to the main frame; a work attachment coupled to and movable relative to the boom; a work attachment operator controller configured to transmit a signal indicative of a work attachment move command; a boom operator control configured to transmit a signal indicative of a boom move command; a boom sensor configured to detect movement of the boom and transmit a signal indicative of the detected movement of the boom; and a controller configured to (i) receive signals from the work attachment operator controller and the boom sensor, and (ii) transmit a signal to indicate movement of the work attachment relative to the boom based on the sensed movement of the boom and work attachment -To effect movement command. Working machine after Claim 1 wherein the boom sensor is configured to sense a speed of the boom and transmit a signal indicative of the sensed speed of the boom. Working machine after Claim 1 or 2 wherein: the controller includes a memory configured to store ratio data including ratio data of boom speeds and corresponding work attachment speeds required to maintain the work attachment at a constant angle relative to the main frame during movement of the boom, and the The controller is configured to transmit a signal to cause the work attachment to move at a particular work attachment speed based on the sensed boom speed and the work attachment move command. Work attachment according to Claim 3 wherein the boom sensor is configured to detect a position of the boom relative to the main frame and transmit a signal indicative of the detected position of the boom. Working machine after Claim 4 , wherein: the ratio data for each position of the boom includes boom speeds and corresponding work attachment speeds required to operate the work attachment during the movement of the boom at a constant angle relative to the main frame, and the controller is configured to transmit a signal to move the work attachment at a specified work attachment speed based on the sensed boom speed, the sensed position of the boom and the work attachment -To effect movement command. Working machine after Claim 4 or 5 wherein: the memory is configured to store boom stop position data, the boom stop position data includes one or more stop positions of the boom beyond which the boom cannot move, and the controller is configured to receive a signal to Stopping the movement of the work attachment based on the boom stop position and the detected position of the boom. Working machine according to one of the Claims 3 to 6th wherein the boom sensor is configured to detect an upward or downward direction of movement of the boom and transmit a signal indicative of the detected direction of movement. Working machine after Claim 7 , wherein: the ratio data for each direction of movement of the boom includes boom speeds and corresponding work attachment speeds required to maintain the work attachment at a constant angle relative to the main frame during movement of the boom, and the controller is configured to transmit a signal to cause the work attachment to move at a specified work attachment speed based on the sensed boom speed, the sensed position of the boom, the sensed direction of movement of the boom, and the work attachment move command. Implement after Claim 8 wherein the ratio data for the upward direction of movement of the boom is different from the ratio data for the downward direction of movement of the boom. Working machine according to one of the Claims 1 to 9 wherein the work machine does not include a sensor configured to sense movement or position of the work attachment. Working machine according to one of the Claims 1 to 10 , further comprising a work attachment sensor configured to sense movement and / or position of the work attachment. An open loop control system for a work machine having a main frame, a boom movable relative to the main frame, and a work attachment movable relative to the boom, the open loop control system comprising: a boom operator control configured to transmit a signal indicative of a boom move command; a boom sensor configured to (i) sense a speed of the boom and (ii) transmit a signal indicative of the sensed speed of the boom; a work attachment actuator coupled to the work attachment and configured to move the work attachment relative to the boom; and a controller configured to (i) receive a signal from the boom sensor and (ii) transmit a signal to the work attachment actuator, thereby causing the work attachment actuator to extend or retract at a specified rate to move the work attachment during the To maintain movement of the boom at a constant angle relative to the main frame, wherein the signal transmitted from the controller to the work attachment actuator is based on the sensed speed of the boom. Open loop control system according to Claim 12 wherein the boom sensor is configured to (i) detect a position of the boom relative to the main frame and (ii) transmit a signal indicative of the detected position of the boom. Open loop control system according to Claim 13 wherein the signal transmitted from the controller to the work attachment actuator is based on the sensed speed of the boom and the sensed position of the boom. Open loop control system according to Claim 14 wherein: the controller includes a memory configured to store boom stop position data, the boom stop position data including one or more stop positions of the boom beyond which the boom cannot move, and the signal that is transmitted to the work attachment actuator based on the stop position of the boom, the sensed position of the boom, and the sensed speed of the boom. Open loop control system according to one of the Claims 12 to 15th wherein the boom sensor is configured to (i) sense directional movement of the boom relative to the main frame and (ii) transmit a signal indicative of the sensed direction of movement of the boom. Open loop control system according to Claim 16 wherein the signal transmitted to the work attachment actuator is based on the sensed speed of the boom and the sensed direction of movement of the boom. A method for moving a work attachment coupled to the boom of a work machine comprising: Detecting a speed and a position of the boom using a sensor coupled to the boom; Transmitting a signal indicative of the detected speed and position of the boom; and Transmitting a signal from a controller in conjunction with the sensor to move the work attachment relative to the boom at a certain speed of the work attachment based on the sensed speed of the boom and the sensed position of the boom. Procedure according to Claim 18 , further comprising: detecting a direction of movement of the boom, wherein the sensor is coupled to the boom, wherein the determined speed of the work attachment is further based on the detected direction of movement of the boom. Procedure according to Claim 19 , further comprising: accessing a stop position of the boom from a memory contained in the controller, the stop position of the boom being a position beyond which the boom cannot move further; and transmitting a signal from the controller to stop movement of the work attachment based on the detected position of the boom and the stop position of the boom.

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